1 Star 2 Fork 3

PengLu / 使用kinodynamic RRTStar算法规划轨迹

Create your Gitee Account
Explore and code with more than 6 million developers,Free private repositories !:)
Sign up
This repository doesn't specify license. Without author's permission, this code is only for learning and cannot be used for other purposes.
Clone or download
readObj.m 2.00 KB
Copy Edit Web IDE Raw Blame History
function obj = readObj(fname)
%
% obj = readObj(fname)
%
% This function parses wavefront object data
% It reads the mesh vertices, texture coordinates, normal coordinates
% and face definitions(grouped by number of vertices) in a .obj file
%
%
% INPUT: fname - wavefront object file full path
%
% OUTPUT: obj.v - mesh vertices
% : obj.vt - texture coordinates
% : obj.vn - normal coordinates
% : obj.f - face definition assuming faces are made of of 3 vertices
%
% Bernard Abayowa, Tec^Edge
% 11/8/07
% set up field types
v = []; vt = []; vn = []; f.v = []; f.vt = []; f.vn = [];
fid = fopen(fname);
% parse .obj file
while 1
tline = fgetl(fid);
if ~ischar(tline), break, end % exit at end of file
ln = sscanf(tline,'%s',1); % line type
%disp(ln)
switch ln
case 'v' % mesh vertexs
v = [v; sscanf(tline(2:end),'%f')'];
case 'vt' % texture coordinate
vt = [vt; sscanf(tline(3:end),'%f')'];
case 'vn' % normal coordinate
vn = [vn; sscanf(tline(3:end),'%f')'];
case 'f' % face definition
fv = []; fvt = []; fvn = [];
str = textscan(tline(2:end),'%s'); str = str{1};
nf = length(findstr(str{1},'/')); % number of fields with this face vertices
[tok str] = strtok(str,'//'); % vertex only
for k = 1:length(tok) fv = [fv str2num(tok{k})]; end
if (nf > 0)
[tok str] = strtok(str,'//'); % add texture coordinates
for k = 1:length(tok) fvt = [fvt str2num(tok{k})]; end
end
if (nf > 1)
[tok str] = strtok(str,'//'); % add normal coordinates
for k = 1:length(tok) fvn = [fvn str2num(tok{k})]; end
end
f.v = [f.v; fv]; f.vt = [f.vt; fvt]; f.vn = [f.vn; fvn];
end
end
fclose(fid);
% set up matlab object
obj.v = v; obj.vt = vt; obj.vn = vn; obj.f = f;

Comment ( 0 )

Sign in for post a comment

Matlab
1
https://gitee.com/olupengo/kinodynamic-RRTStar-for-landing-on-small-body.git
git@gitee.com:olupengo/kinodynamic-RRTStar-for-landing-on-small-body.git
olupengo
kinodynamic-RRTStar-for-landing-on-small-body
使用kinodynamic RRTStar算法规划轨迹
master

Search